EP3969224B1 - Orbitalschleifmaschine mit bremsvorrichtung - Google Patents

Orbitalschleifmaschine mit bremsvorrichtung Download PDF

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Publication number
EP3969224B1
EP3969224B1 EP20725457.4A EP20725457A EP3969224B1 EP 3969224 B1 EP3969224 B1 EP 3969224B1 EP 20725457 A EP20725457 A EP 20725457A EP 3969224 B1 EP3969224 B1 EP 3969224B1
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EP
European Patent Office
Prior art keywords
lever
spring
mounting plate
machine tool
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20725457.4A
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German (de)
English (en)
French (fr)
Other versions
EP3969224A1 (de
Inventor
Ronald Naderer
Georg PREE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology GmbH
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Application filed by Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of EP3969224A1 publication Critical patent/EP3969224A1/de
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/26—Accessories, e.g. stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
    • B24B23/03—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor the tool being driven in a combined movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars

Definitions

  • the present description relates to the field of machine tools, in particular an orbital grinding machine for automated, robot-assisted grinding.
  • a machine tool such as a grinding or polishing machine (eg an electrically operated grinding machine with a rotating grinding wheel as the grinding tool) is guided by a manipulator, for example an industrial robot.
  • the machine tool can be coupled in different ways to the so-called TCP ( Tool Center Point ) of the manipulator; the manipulator can usually adjust the position and orientation of the machine practically at will and move the machine tool, for example, on a trajectory parallel to the surface of the workpiece.
  • Industrial robots are usually position-controlled, which allows precise movement of the TCP along the desired trajectory. With a separate actuator, the process force between the machine tool and the workpiece surface can be set and controlled independently of the manipulator.
  • eccentric sanders orbital sanding machines
  • a sanding disk is attached to a mounting plate ( backing pad ), with the sanding plate rotating around an eccentrically arranged first axis of rotation, which itself rotates around a central second axis of rotation.
  • Orbital grinding machines are known per se (see e.g US6257970B1 ) and their functional principle is therefore not further discussed here. Devices are also known that enable the grinding wheels to be changed automatically (see, for example, US8517799B2 ).
  • the problem with orbital grinding machines is that the mounting plate comes to a standstill in an undefined position, whereas for the automated changing of the grinding wheels it can be desirable for the mounting plate to be in a defined position at the start of the automated changing process. Further it can happen that the assembly plate continues to turn for a comparatively long time after the motor has been switched off, which delays the changing process.
  • the inventor's goal is to improve existing orbital grinding machines so that an automated process for changing grinding wheels becomes faster and more reliable.
  • a device with a machine tool and a braking device is described below, the machine tool having an eccentrically mounted, rotatable assembly plate for receiving a tool.
  • the braking device has a frame that is fixed to the machine tool, a leaf spring that is fixed at a first end to the frame, and a lever that is connected to a second end of the spring.
  • the braking device also has an actuator which is designed to move the lever, with movement of the lever tensioning the spring and pressing part of the lever against the mounting plate of the machine tool.
  • FIG 1 illustrates an example of an orbital grinder with a braking device.
  • the grinding machine 1 essentially comprises a motor 11 for driving an eccentrically mounted (in a housing) mounting plate 12 ( backing pad ) on which a grinding wheel 13 can be fastened.
  • the eccentric mounting of the mounting plate 12 causes it to rotate about an eccentric axis of rotation D′ during operation, which in turn rotates about a central axis of rotation D.
  • the grinding wheel 13 thereby performs a small elliptical movement as it rotates (the elliptical path also rotates).
  • the construction of an orbital grinder is known per se and is therefore not explained in more detail here.
  • the rest position of the mounting plate 12 is not defined by the eccentricity e of the axis of rotation D ⁇ (distance between the axes of rotation D and D').
  • the mounting plate 12 continues to run for a while and can stop in any angular position.
  • the grinding machine 1 has a braking device 2 which is designed to brake the mounting plate 12 (when the motor 11 is switched off) and to press it into a defined angular position.
  • 2 shows the same embodiment as 1 with activated brake.
  • the braking device 2 includes a spring 21, in particular a leaf spring made of spring steel.
  • One end of the spring 21 is clamped to a frame 25 of the braking device 2, for example by means a clamping element 24.
  • the spring 21 is clamped between a part of the frame 25 and the clamping element, which can be fastened to the frame 25 by means of screws.
  • a lever 22 is mounted (e.g. also by means of screws) which has the shape of an elongate bar ( bar ) which is bent by approximately 90° at its free end.
  • the linear actuator can be a pneumatic actuator, which can be implemented, for example, as a bellows cylinder.
  • a magnetic actuator can be used, which can be designed, for example, as a lifting magnet ( solenoid actuator ).
  • the actuator 23 acts between the frame 25 and the lever 22.
  • the combination of the lever 22, which is mounted on the frame 25 via a leaf spring, with a direct drive (without gears and other mechanisms) such as a bellows cylinder makes it possible for the braking mechanism (lever 22, spring 21) to do without swivel joints.
  • a direct drive without gears and other mechanisms
  • the braking mechanism (lever 22, spring 21) to do without swivel joints.
  • the bellows cylinder also does not contain any parts that can move in relation to one another; the bellows is merely inflated by means of compressed air, as a result of which the end of the bellows cylinder presses against the lever 22 .
  • the actuator 23 presses against the lever 22 and thus also the free, angled end of the lever 22 against the mounting plate 12, with the spring 21 being bent and pretensioned.
  • This situation is in 2 shown.
  • the free, angled end of the lever 22 presses against the mounting plate 12 the latter is moved into a defined angular position.
  • the eccentric axis of rotation D' is pushed away from the braking device 2 as far as possible.
  • the braking device is arranged on the right side of the grinding machine 1 and the eccentric axis of rotation is shifted as far as possible to the left by the activated braking device.
  • any rotary movement of the mounting plate 12 is braked until it comes to a standstill.
  • the frame 25 consists of several parts and is designed to be mounted on a grinding machine (see Fig Figures 1 and 2 ).
  • the frame 25 comprises a base plate 25a (support), the outer surface of which can be adapted to the (eg cylindrical) surface of the grinding machine.
  • the spring 21 is fastened to the base plate 25a by means of the clamping element 24 and screws 24a. This means that the spring 21 embodied as a leaf spring is clamped between a surface of the base plate 25a and a corresponding surface of the clamping element 24 .
  • the screws 24a ensure the necessary contact pressure.
  • the lever 22 is screwed to the spring 21, as shown in 1 has already been presented.
  • the lever 22 can be seen as an "extension" of the leaf spring 21, so to speak, the lever 22 being rigid in comparison to the spring 21.
  • the frame 25 includes a bracket 25b ( bracket ) which is mounted on the base plate 25a (eg by means of screws 25c) and which at least partially surrounds the lever 22.
  • the actuator 23 is mounted on the bracket 25b so that it can push the lever 22 towards the base plate 25a (and thus towards the grinding machine in use).
  • the actuator 23 is attached to the bracket 25b by means of the screws 25d in such a way that it can push the lever 22 towards the base plate 25a (and thus also towards the grinding machine).
  • the frame 25 can be constructed in a variety of ways. In the 3 The construction shown can be modified in many ways without changing the function of the braking device 2 described here.
  • a frame is therefore understood to mean any structural component or any assembly of structural components that is suitable and designed to fulfill the function described here, namely in particular to enable one end of the spring 21 to be fixed in place and also the actuator 23 to be mounted in such a way that it can move the lever 22 attached to the spring 21.
  • the frame as such is designed to be mounted on the grinding machine.
  • the exemplary embodiments described here relate to a device with a machine tool (in particular an orbital grinding machine) and a braking device, the machine tool having an eccentrically mounted, rotatable mounting plate for receiving a tool.
  • the braking device has a frame (see e.g 3 , frame with base plate 25a and mounting bracket 25b) attached to the machine tool, a spring (see e.g Figures 1 and 2 , leaf spring 21) which is fixed at a first end to the frame, and a lever (see e.g Figures 1 to 3 , lever 22) connected to a second end of the spring.
  • the braking device also has an actuator (see e.g Figures 1 to 3 , pneumatic linear actuator 23) which is designed to move the lever, with movement of the lever tensioning the spring and part of the lever being pressed against the mounting plate of the machine tool.
  • the spring in the examples described here is a leaf spring, which can be made of spring steel, for example, and the lever is connected to the frame (eg to the base plate of the frame) exclusively via the leaf spring.
  • the actuator can be a pneumatic or electric direct drive and in particular does not include a gear or other rotating parts.
  • An example of a pneumatic direct drive is a bellows cylinder.
  • the frame includes a base plate to which the first end of the spring is clamped by a clamp member.
  • the frame may have a bracket attached to the base plate, in this example the actuator being mounted on the bracket (see Fig 3 , Actuator 23 is mounted on bracket 25b by means of screws 25d).
  • the bracket at least partially encloses the lever.
  • the lever is arranged between the actuator mounted on the bracket and the base plate in the assembled state.
  • One end of the lever can be angled, with the angled end of the lever being pressed against a peripheral surface of the mounting plate of the machine tool when the lever is moved by the actuator. Due to a movement of the lever, it is pressed against the assembly plate of the machine tool (grinding machine), whereby the assembly plate is braked and pushed into a defined position.
  • the natural frequency of the lever (see Figures 1 to 3 , Lever 22) which, depending on its geometric shape and the rigidity of the material from which it is made, has certain natural frequencies and associated vibration modes, with one (namely the lowest) natural frequency dominating as a rule.
  • the lever is constructed in such a way that its dominant natural frequency is not excited during operation of the grinding machine. That is, the natural frequency of the lever is higher than a specified maximum rotational frequency (in revolutions per second) of the grinding machine's mounting plate.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)
EP20725457.4A 2019-05-14 2020-05-06 Orbitalschleifmaschine mit bremsvorrichtung Active EP3969224B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019112556.1A DE102019112556A1 (de) 2019-05-14 2019-05-14 Orbitalschleifmaschine mit bremsvorrichtung
PCT/EP2020/062515 WO2020229247A1 (de) 2019-05-14 2020-05-06 Orbitalschleifmaschine mit bremsvorrichtung

Publications (2)

Publication Number Publication Date
EP3969224A1 EP3969224A1 (de) 2022-03-23
EP3969224B1 true EP3969224B1 (de) 2023-05-31

Family

ID=70681794

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20725457.4A Active EP3969224B1 (de) 2019-05-14 2020-05-06 Orbitalschleifmaschine mit bremsvorrichtung

Country Status (7)

Country Link
US (1) US12296429B2 (https=)
EP (1) EP3969224B1 (https=)
JP (1) JP7333830B2 (https=)
KR (1) KR102850902B1 (https=)
CN (1) CN113825592B (https=)
DE (1) DE102019112556A1 (https=)
WO (1) WO2020229247A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12330264B2 (en) * 2022-02-28 2025-06-17 X'pole Precision Tools Inc. Grinding machine tool with grinding disc braking structure
EP4238696B1 (en) * 2022-03-01 2025-08-27 X'Pole Precision Tools Inc. Grinding machine tool

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2669072A (en) 1951-06-07 1954-02-16 Bryant Grinder Corp Grinding wheel reciprocating mechanism
JP2523147Y2 (ja) * 1990-04-27 1997-01-22 株式会社マキタ 研磨機
US5595531A (en) * 1995-07-26 1997-01-21 Ryobi North America Random orbit sander having speed limiter
JP3316622B2 (ja) * 1996-03-08 2002-08-19 株式会社マキタ サンダ
US6257970B1 (en) * 1997-01-23 2001-07-10 Hao Chien Chao Ergonomically friendly random orbital construction
DE19952108B4 (de) 1999-10-29 2007-09-20 Robert Bosch Gmbh Exzentertellerschleifmaschine
DE10031761A1 (de) * 2000-06-29 2002-01-10 Bosch Gmbh Robert Exzentertellerschleifmaschine mit einem zylindrischen Gehäuse
DE10047202A1 (de) * 2000-09-23 2002-04-11 Bosch Gmbh Robert Motorgetriebene Handschleifmaschine
GB2380151B (en) 2001-07-20 2004-09-22 Black & Decker Inc Oscillating hand tool
DE10142557A1 (de) * 2001-08-30 2003-03-20 Hilti Ag Handgeführter Exzenterschleifer
DE102010012027A1 (de) 2010-03-19 2011-09-22 Festool Gmbh Hand-Werkzeugmaschine mit einer Radialbremse
US8517799B2 (en) * 2010-12-07 2013-08-27 The Boeing Company Robotic surface preparation by a random orbital device
DE102012218073A1 (de) 2012-10-03 2014-06-12 Hilti Aktiengesellschaft Handgeführtes Werkzeuggerät mit einer Bremsvorrichtung zum Bremsen eines Bearbeitungswerkzeuges
CN103862350B (zh) 2012-12-12 2017-06-27 苏州宝时得电动工具有限公司 具有推杆式止动机构的角磨机
DE202013101858U1 (de) * 2013-04-29 2013-05-17 Sps Holding Gmbh Anlage zum Schleifen von Flächen
DE202015000702U1 (de) * 2015-01-30 2016-05-04 Solo Kleinmotoren Gmbh Momentgesteuerte Bremseinrichtung für angetriebene Werkzeuge
DE102016106141A1 (de) * 2016-04-04 2017-10-05 Ferrobotics Compliant Robot Technology Gmbh Wechselstation zum automatischen Wechseln von Schleifmittel
EP3326758B1 (en) 2016-11-28 2022-08-10 Guido Valentini Power tool
US10603760B2 (en) * 2017-09-19 2020-03-31 Campbell Hausfeld, Llc Multifunction rotary tool including hub
CN213106145U (zh) * 2020-07-22 2021-05-04 无锡中车时代智能装备有限公司 机器人用角式电动端面打磨工具

Also Published As

Publication number Publication date
DE102019112556A1 (de) 2020-11-19
EP3969224A1 (de) 2022-03-23
JP7333830B2 (ja) 2023-08-25
KR102850902B1 (ko) 2025-08-26
CN113825592B (zh) 2024-02-02
US12296429B2 (en) 2025-05-13
JP2022532593A (ja) 2022-07-15
US20220331933A1 (en) 2022-10-20
KR20220002664A (ko) 2022-01-06
CN113825592A (zh) 2021-12-21
WO2020229247A1 (de) 2020-11-19

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